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AP_AHRS: stop using GCS_MAVLINK.h in header files

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... by passing through a reference to a link object instead
This commit is contained in:
Peter Barker 2022-07-08 14:15:35 +10:00 committed by Andrew Tridgell
parent 59c6207a47
commit cfb391dc2c
5 changed files with 10 additions and 10 deletions
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12
libraries/AP_AHRS/AP_AHRS.cpp
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@ -2663,12 +2663,12 @@ bool AP_AHRS::resetHeightDatum(void)
} }
// send a EKF_STATUS_REPORT for current EKF // send a EKF_STATUS_REPORT for current EKF
void AP_AHRS::send_ekf_status_report(mavlink_channel_t chan) const void AP_AHRS::send_ekf_status_report(GCS_MAVLINK &link) const
{ {
switch (ekf_type()) { switch (ekf_type()) {
case EKFType::NONE: case EKFType::NONE:
// send zero status report // send zero status report
dcm.send_ekf_status_report(chan); dcm.send_ekf_status_report(link);
break; break;
#if AP_AHRS_SIM_ENABLED #if AP_AHRS_SIM_ENABLED
@ -2686,26 +2686,26 @@ void AP_AHRS::send_ekf_status_report(mavlink_channel_t chan) const
//EKF_CONST_POS_MODE | /* EKF is in constant position mode and does not know it's absolute or relative position. | */ //EKF_CONST_POS_MODE | /* EKF is in constant position mode and does not know it's absolute or relative position. | */
EKF_PRED_POS_HORIZ_REL | /* Set if EKF's predicted horizontal position (relative) estimate is good. | */ EKF_PRED_POS_HORIZ_REL | /* Set if EKF's predicted horizontal position (relative) estimate is good. | */
EKF_PRED_POS_HORIZ_ABS; /* Set if EKF's predicted horizontal position (absolute) estimate is good. | */ EKF_PRED_POS_HORIZ_ABS; /* Set if EKF's predicted horizontal position (absolute) estimate is good. | */
mavlink_msg_ekf_status_report_send(chan, flags, 0, 0, 0, 0, 0, 0); mavlink_msg_ekf_status_report_send(link.get_chan(), flags, 0, 0, 0, 0, 0, 0);
} }
break; break;
#endif #endif
#if HAL_EXTERNAL_AHRS_ENABLED #if HAL_EXTERNAL_AHRS_ENABLED
case EKFType::EXTERNAL: { case EKFType::EXTERNAL: {
AP::externalAHRS().send_status_report(chan); AP::externalAHRS().send_status_report(link);
break; break;
} }
#endif #endif
#if HAL_NAVEKF2_AVAILABLE #if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO: case EKFType::TWO:
return EKF2.send_status_report(chan); return EKF2.send_status_report(link);
#endif #endif
#if HAL_NAVEKF3_AVAILABLE #if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE: case EKFType::THREE:
return EKF3.send_status_report(chan); return EKF3.send_status_report(link);
#endif #endif
} }

2
libraries/AP_AHRS/AP_AHRS.h
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@ -301,7 +301,7 @@ public:
bool resetHeightDatum(); bool resetHeightDatum();
// send a EKF_STATUS_REPORT for current EKF // send a EKF_STATUS_REPORT for current EKF
void send_ekf_status_report(mavlink_channel_t chan) const; void send_ekf_status_report(class GCS_MAVLINK &link) const;
// get_hgt_ctrl_limit - get maximum height to be observed by the control loops in meters and a validity flag // get_hgt_ctrl_limit - get maximum height to be observed by the control loops in meters and a validity flag
// this is used to limit height during optical flow navigation // this is used to limit height during optical flow navigation

2
libraries/AP_AHRS/AP_AHRS_Backend.h
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@ -310,7 +310,7 @@ public:
return false; return false;
} }
virtual void send_ekf_status_report(mavlink_channel_t chan) const = 0; virtual void send_ekf_status_report(class GCS_MAVLINK &link) const = 0;
// Retrieves the corrected NED delta velocity in use by the inertial navigation // Retrieves the corrected NED delta velocity in use by the inertial navigation
virtual void getCorrectedDeltaVelocityNED(Vector3f& ret, float& dt) const { virtual void getCorrectedDeltaVelocityNED(Vector3f& ret, float& dt) const {

2
libraries/AP_AHRS/AP_AHRS_DCM.cpp
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@ -1278,6 +1278,6 @@ bool AP_AHRS_DCM::get_relative_position_D_origin(float &posD) const
return true; return true;
} }
void AP_AHRS_DCM::send_ekf_status_report(mavlink_channel_t chan) const void AP_AHRS_DCM::send_ekf_status_report(GCS_MAVLINK &link) const
{ {
} }

2
libraries/AP_AHRS/AP_AHRS_DCM.h
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@ -123,7 +123,7 @@ public:
bool get_relative_position_NE_origin(Vector2f &posNE) const override; bool get_relative_position_NE_origin(Vector2f &posNE) const override;
bool get_relative_position_D_origin(float &posD) const override; bool get_relative_position_D_origin(float &posD) const override;
void send_ekf_status_report(mavlink_channel_t chan) const override; void send_ekf_status_report(class GCS_MAVLINK &link) const override;
private: private: